Development and modeling of unmanned underwater remotely operated vehicle using system identification for depth control
This paper presents the development and modeling of low cost underwater Remotely Operated Vehicle (ROV) for depth control using system identification technique. The ROV was developed by the Underwater Technology Research Group (UTeRG). For Unmanned Underwater Vehicle (UUV), the most crucial issue is...
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| Format: | Article |
| Language: | English |
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Asian Research Publishing Network (ARPN)
2013
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| Online Access: | http://eprints.utm.my/49664/1/ShahrumShahAbdullah2013_Developmentandmodelingofunmanned.pdf |
| _version_ | 1796859443929939968 |
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| author | Mohd. Aras, Mohd. Shahrieel Abdullah, Shahrum Shah Ab. Rashid, Mohd. Zamzuri Ab. Rahman, Azhan Abd. Aziz, Muhammad Azhar |
| author_facet | Mohd. Aras, Mohd. Shahrieel Abdullah, Shahrum Shah Ab. Rashid, Mohd. Zamzuri Ab. Rahman, Azhan Abd. Aziz, Muhammad Azhar |
| author_sort | Mohd. Aras, Mohd. Shahrieel |
| collection | ePrints |
| description | This paper presents the development and modeling of low cost underwater Remotely Operated Vehicle (ROV) for depth control using system identification technique. The ROV was developed by the Underwater Technology Research Group (UTeRG). For Unmanned Underwater Vehicle (UUV), the most crucial issue is the control system. It is needed for the ROV to perform several underwater applications and tasks. In this project, a prototype of the ROV will be developed first. The ROV will be tested on an open loop system to obtain measured input-output signals. Input and Output signals from the system are recorded and analyzed to infer a model. Then, system identification toolbox in MATLAB will be applied to generate a model of the ROV. The experimental testing of ROV only considered the vertical movement. The modeling obtained will be used to design the a suitable controller for depth control. The purpose of depth control is to ensure the ROV to remain stationary at a desired depth by utilizing the pressure sensor as feedback. The simulation studies have been carried out in order to obtain the controller of the ROV. This method is useful to obtain the model of the ROV to design the best controller for depth control. Conventional controller will be used in order to verify the modeling of ROV and gives acceptable performances of system response |
| first_indexed | 2024-03-05T19:27:15Z |
| format | Article |
| id | utm.eprints-49664 |
| institution | Universiti Teknologi Malaysia - ePrints |
| language | English |
| last_indexed | 2024-03-05T19:27:15Z |
| publishDate | 2013 |
| publisher | Asian Research Publishing Network (ARPN) |
| record_format | dspace |
| spelling | utm.eprints-496642018-09-27T04:09:24Z http://eprints.utm.my/49664/ Development and modeling of unmanned underwater remotely operated vehicle using system identification for depth control Mohd. Aras, Mohd. Shahrieel Abdullah, Shahrum Shah Ab. Rashid, Mohd. Zamzuri Ab. Rahman, Azhan Abd. Aziz, Muhammad Azhar TK Electrical engineering. Electronics Nuclear engineering This paper presents the development and modeling of low cost underwater Remotely Operated Vehicle (ROV) for depth control using system identification technique. The ROV was developed by the Underwater Technology Research Group (UTeRG). For Unmanned Underwater Vehicle (UUV), the most crucial issue is the control system. It is needed for the ROV to perform several underwater applications and tasks. In this project, a prototype of the ROV will be developed first. The ROV will be tested on an open loop system to obtain measured input-output signals. Input and Output signals from the system are recorded and analyzed to infer a model. Then, system identification toolbox in MATLAB will be applied to generate a model of the ROV. The experimental testing of ROV only considered the vertical movement. The modeling obtained will be used to design the a suitable controller for depth control. The purpose of depth control is to ensure the ROV to remain stationary at a desired depth by utilizing the pressure sensor as feedback. The simulation studies have been carried out in order to obtain the controller of the ROV. This method is useful to obtain the model of the ROV to design the best controller for depth control. Conventional controller will be used in order to verify the modeling of ROV and gives acceptable performances of system response Asian Research Publishing Network (ARPN) 2013 Article PeerReviewed application/pdf en http://eprints.utm.my/49664/1/ShahrumShahAbdullah2013_Developmentandmodelingofunmanned.pdf Mohd. Aras, Mohd. Shahrieel and Abdullah, Shahrum Shah and Ab. Rashid, Mohd. Zamzuri and Ab. Rahman, Azhan and Abd. Aziz, Muhammad Azhar (2013) Development and modeling of unmanned underwater remotely operated vehicle using system identification for depth control. Journal of Theoretical and Applied Information Technology, 56 (1). pp. 136-145. ISSN 1992-8645 https://www.jatit.org |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Mohd. Aras, Mohd. Shahrieel Abdullah, Shahrum Shah Ab. Rashid, Mohd. Zamzuri Ab. Rahman, Azhan Abd. Aziz, Muhammad Azhar Development and modeling of unmanned underwater remotely operated vehicle using system identification for depth control |
| title | Development and modeling of unmanned underwater remotely operated vehicle using system identification for depth control |
| title_full | Development and modeling of unmanned underwater remotely operated vehicle using system identification for depth control |
| title_fullStr | Development and modeling of unmanned underwater remotely operated vehicle using system identification for depth control |
| title_full_unstemmed | Development and modeling of unmanned underwater remotely operated vehicle using system identification for depth control |
| title_short | Development and modeling of unmanned underwater remotely operated vehicle using system identification for depth control |
| title_sort | development and modeling of unmanned underwater remotely operated vehicle using system identification for depth control |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://eprints.utm.my/49664/1/ShahrumShahAbdullah2013_Developmentandmodelingofunmanned.pdf |
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